Re: odom frame flickers when playing rtabmap with rosbag

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228p525.html

Hi Mathieu,

Success!! following your suggestions I was able to reproduce the bag files and use with rtabmap.

I have one problem now. I tried to map a large map and recorded 3 bag files following your suggestions from this post .

The recorded bag files have a common corridor section. When playing the bags in order, there is a large deflection in the neighbor edges when the second bag file is run after the first one. Although for both the bag files ( 1 & 2 ) the start position is almost similar.  I kept the "RGBD/OptimizeFromGraphEnd" parameter as "false".  The third bag starts from a different location but has a common area from the bag 2. Again when playing the bag 3, a link is made from the first map to the third map and this  corrupts the whole global map.

I was killing the roscore and all the nodes (openni2, hokuyo, p3dx launch, and teleop) before recording subsequent bag files. The result is very different from your example of multi_mapping.

Can you suggest  me the correct way.

Thanks

Alex